.TH "Zebulon::Gamblore::PrimitiveDriver" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
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.SH NAME
Zebulon::Gamblore::PrimitiveDriver \- 
.SH SYNOPSIS
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.PP
.SS "Public Member Functions"

.in +1c
.ti -1c
.RI "int \fBSetController\fP (\fBRoboteq::AX3500\fP *motors)"
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.ti -1c
.RI "int \fBConnectToBasicStamp\fP (const std::string &port)"
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.ti -1c
.RI "int \fBToggleLight\fP (const bool on)"
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.ti -1c
.RI "double \fBGetThrust\fP () const "
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.ti -1c
.RI "double \fBGetSteering\fP () const "
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.ti -1c
.RI "bool \fBIsConnectedToBasicStamp\fP () const "
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.ti -1c
.RI "void \fBPrintWrenchEffort\fP () const "
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.ti -1c
.RI "virtual int \fBSetupService\fP ()"
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.ti -1c
.RI "virtual int \fBStandby\fP ()"
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.ti -1c
.RI "virtual int \fBResume\fP ()"
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.ti -1c
.RI "virtual int \fBSetEmergency\fP (const Jaus::UShort code)"
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.ti -1c
.RI "virtual int \fBSetWrenchEffort\fP (const Jaus::SetWrenchEffort *command)"
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.ti -1c
.RI "virtual int \fBSetDiscreteDevices\fP (const Jaus::SetDiscreteDevices *command)"
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.ti -1c
.RI "virtual int \fBReportWrenchEffort\fP (const Jaus::QueryWrenchEffort *query)"
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.ti -1c
.RI "virtual int \fBReportPlatformSpecifications\fP (const Jaus::QueryPlatformSpecifications *query)"
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.in -1c
.SS "Static Protected Member Functions"

.in +1c
.ti -1c
.RI "static void \fBDriverThread\fP (void *args)"
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.in -1c
.SS "Protected Attributes"

.in +1c
.ti -1c
.RI "CxUtils::Mutex \fBmDriverMutex\fP"
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.RI "\fIMutex for thread protection. \fP"
.ti -1c
.RI "CxUtils::Thread \fBmDriverThread\fP"
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.RI "\fIThread which continuously sends drive commands to \fBAX3500\fP. \fP"
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.RI "CxUtils::Serial \fBmBasicStamp\fP"
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.RI "\fIInterface to Basic Stamp MC on \fBGamblore\fP. \fP"
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.RI "double \fBmThrust\fP"
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.RI "\fIThrust rate. \fP"
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.RI "double \fBmSteering\fP"
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.RI "\fISteering rate. \fP"
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.RI "unsigned int \fBmWrenchEffortTimeMs\fP"
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.RI "\fITime in ms when last Set Wrench Effort command was received. \fP"
.ti -1c
.RI "\fBRoboteq::AX3500\fP * \fBmpMotors\fP"
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.RI "\fIPointer to motor controller interface. \fP"
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.RI "Jaus::ReportPlatformSpecifications \fBmBaseSpecs\fP"
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.RI "\fIBase message containing Gamblore's specs. \fP"
.in -1c

.SH "Author"
.PP 
Generated automatically by Doxygen for zebulon from the source code.
